Ejemplo n.º 1
0
        /// <summary>
        /// 单鱼推球过程中的数据记录,记录完成第一次完成各个单程的时间,及共完成单程的个数
        /// </summary>
        private void DataProcessingOnPushingBall()
        {
            MyMission myMission = MyMission.Instance();//当前仿真使命的信息
            FishSingleFishPushBallAvoidObstacles fish = Teams[0].Fishes[0];

            Ball ball = myMission.EnvRef.Balls[0];

            //记录完成每个单程的时间和完成的单程数目
            if ((fish.PositionMm.X > (myMission.EnvRef.ObstaclesRect[0].PositionMm.X + fish.BodyLength) && (finishedCountOneWay == 0)))
            {//判断完成第一次完成第一个单程
                finshedTimeOneWay[0] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;
                finishedCountOneWay  = 1;
            }
            else if ((fish.PositionMm.X > (myMission.EnvRef.ObstaclesRect[9].PositionMm.X + fish.BodyLength) && (finishedCountOneWay == 1)))
            {//判断完成第一次完成第二个单程
                finshedTimeOneWay[1] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
                finishedCountOneWay  = 2;
            }
            else if ((fish.PositionMm.X < (myMission.EnvRef.ObstaclesRect[9].PositionMm.X - fish.BodyLength) && (finishedCountOneWay == 2)) &&
                     (ball.PositionMm.X < (myMission.EnvRef.ObstaclesRect[9].PositionMm.X - ball.RadiusMm * 2)))
            {//判断完成第一次完成第三个单程
                finshedTimeOneWay[2] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
                finishedCountOneWay  = 3;
            }
            else if ((fish.PositionMm.X < (myMission.EnvRef.ObstaclesRect[0].PositionMm.X - fish.BodyLength) && (finishedCountOneWay == 3)) &&
                     (ball.PositionMm.X < (myMission.EnvRef.ObstaclesRect[0].PositionMm.X - ball.RadiusMm * 2)))
            {//判断完成第一次完成第四个单程
                finshedTimeOneWay[3] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
                finishedCountOneWay  = 4;
            }
        }
Ejemplo n.º 2
0
        /// <summary>
        /// 单鱼推球避障,机器鱼或者球碰到障碍物的处理
        /// </summary>
        private void HandleWhileFoul()
        {
            MyMission myMission = MyMission.Instance();//当前仿真使命的信息
            FishSingleFishPushBallAvoidObstacles fish = Teams[0].Fishes[0];
            Ball ball = myMission.EnvRef.Balls[0];

            //myMission.ParasRef.IsPauseNeeded = true;//这里还待考虑

            if (collisionFishAndObstacles)
            {
                System.Windows.Forms.MessageBox.Show(" Collision between Fish and Obstacles", "Time - 5s");

                CommonPara.RemainingCycles -= 5000 / CommonPara.MsPerCycle;

                // 有鱼碰到障碍物的犯规情况出现时,将鱼移到已完成单程,进入下一个单程的初始位置;
                if (finishedCountOneWay == 0)
                {
                    fish.PositionMm.X         = myMission.EnvRef.ObstaclesRect[1].PositionMm.X - myMission.EnvRef.ObstaclesRect[1].LengthMm - fish.BodyLength;
                    fish.PositionMm.Z         = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z - myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
                    fish.BodyDirectionRad     = 0;
                    fish.VelocityDirectionRad = 0;
                }
                else if (finishedCountOneWay == 1)
                {
                    fish.PositionMm.X         = myMission.EnvRef.ObstaclesRect[4].PositionMm.X + myMission.EnvRef.ObstaclesRect[4].LengthMm + fish.BodyLength;
                    fish.PositionMm.Z         = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z + myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
                    fish.BodyDirectionRad     = 0;
                    fish.VelocityDirectionRad = 0;
                }
                else if (finishedCountOneWay == 2)
                {
                    fish.PositionMm.X         = myMission.EnvRef.ObstaclesRect[9].PositionMm.X + myMission.EnvRef.ObstaclesRect[9].LengthMm + fish.BodyLength;
                    fish.PositionMm.Z         = myMission.EnvRef.ObstaclesRect[9].PositionMm.Z + myMission.EnvRef.ObstaclesRect[9].WidthMm + fish.BodyWidth;
                    fish.BodyDirectionRad     = (float)Math.PI;
                    fish.VelocityDirectionRad = 0;
                }
                else if (finishedCountOneWay == 3)
                {
                    fish.PositionMm.X         = myMission.EnvRef.ObstaclesRect[4].PositionMm.X - myMission.EnvRef.ObstaclesRect[4].LengthMm - fish.BodyLength;
                    fish.PositionMm.Z         = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z + myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
                    fish.BodyDirectionRad     = (float)Math.PI;
                    fish.VelocityDirectionRad = 0;
                }
                collisionFishAndObstacles = false;
                presentCollisionCycle     = CommonPara.RemainingCycles;
                collisionFlag             = true;
            }
            if (collisionBallAndObstacles)
            {
                System.Windows.Forms.MessageBox.Show("Collision between Ball and Obstacles", "Time - 3s");
                CommonPara.RemainingCycles -= 3000 / CommonPara.MsPerCycle;

                // 有球撞到障碍物的犯规情况出现时,球也移到相应的位置
                if ((finishedCountOneWay == 0) || (finishedCountOneWay == 1) || (finishedCountOneWay == 2))//完成2个单程之前,球都应该保持在初始位置附近
                {
                    //球的初始位置
                    ball.PositionMm.X         = 1030;
                    ball.PositionMm.Z         = 0;
                    ball.VelocityMmPs         = 0;
                    ball.VelocityDirectionRad = 0;
                }
                else if (finishedCountOneWay == 3)//已经只差最后一个单程了,此时球在碰到障碍物设置球在原点
                {
                    ball.PositionMm.X         = 0;
                    ball.PositionMm.Z         = 0;
                    ball.VelocityMmPs         = 0;
                    ball.VelocityDirectionRad = 0;
                }
                collisionBallAndObstacles = false;
                presentCollisionCycle     = CommonPara.RemainingCycles;
                collisionFlag             = true;
            }
        }